svmsgd_alg_node.cpp

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#include "svmsgd_alg_node.h"

SvmsgdAlgNode::SvmsgdAlgNode(void) :
  algorithm_base::IriBaseAlgorithm<SvmsgdAlgorithm>()
{
  //init class attributes if necessary
  //this->loop_rate_ = 2;//in [Hz]

  // [init publishers]
  
  // [init subscribers]
  
  // [init services]
  this->learning_service_ = this->public_node_handle_.advertiseService("svmsgd_learning_service", &SvmsgdAlgNode::new_example_callback, this);

  // [init clients]
  
  // [init action servers]
  
  // [init action clients]
}

SvmsgdAlgNode::~SvmsgdAlgNode(void)
{
  // [free dynamic memory]
}

void SvmsgdAlgNode::mainNodeThread(void)
{
  // [fill msg structures]
  
  // [fill srv structure and make request to the server]
  
  // [fill action structure and make request to the action server]

  // [publish messages]
}

/*  [subscriber callbacks] */

/*  [service callbacks] */
bool SvmsgdAlgNode::new_example_callback(iri_svmsgd::new_train_example_service::Request &req, iri_svmsgd::new_train_example_service::Response &res)
{
  this->alg_.process_new_example(req.new_example.feature_vector, req.new_example.label);
  res.new_classifier.bias=this->alg_.get_bias();
  res.new_classifier.w=this->alg_.get_w();
  return true;
}

bool SvmsgdAlgNode::calibration_callback(iri_svmsgd::calibration_service::Request &req, iri_svmsgd::calibration_service::Response &res)
{
  this->alg_.calibrate(req.calibration_examples.calibration_examples);
  res.calibrated=true;
  return true;
}

/*  [action callbacks] */

/*  [action requests] */

void SvmsgdAlgNode::node_config_update(Config &config, uint32_t level)
{
  this->alg_.lock();

  this->alg_.unlock();
}

void SvmsgdAlgNode::addNodeDiagnostics(void)
{
}

/* main function */
int main(int argc,char *argv[])
{
  return algorithm_base::main<SvmsgdAlgNode>(argc, argv, "svmsgd_alg_node");
}